VEHICLE POSITION DETECTING APPARATUS

• US 20160332624A1
• Filed: 04/25/2016
• Published: 11/17/2016
• Est. Priority Date: 05/11/2015
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: TEZUKA, Shunsuke
• Granted Patent: US 9,855,950 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 2754/50 Relative longitudinal speed
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G08G 1/123 indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, tramstransmission of navigation instructions to vehicles G08G1/0968

Abstract

A vehicle position detecting apparatus includes: a position measurement unit that obtains first position information of a first vehicle; an autonomous sensor that obtains relative position information of a second vehicle; a receiver that receives communication data containing second position information of the second vehicle; an identification unit that performs identification on the second vehicle specified based on the relative position information and the second vehicle from which the communication data is sent; a position error calculator that calculates a position error between a position of the second vehicle specified based on the relative position information and that of the second vehicle specified based on the second position information; and a position corrector that performs, based on the position error, a correction on the position of the second vehicle specified based on the second position information, on a condition that the identified second vehicle is no longer detected by the autonomous sensor.

Claims

1. A vehicle position detecting apparatus, comprising:

a position measurement unit that measures a position of a first vehicle as an own vehicle to obtain first position information as position information of the first vehicle;

an autonomous sensor that detects a relative position, relative to the first vehicle, of a second vehicle to obtain relative position information of the second vehicle, the second vehicle being a vehicle different from the first vehicle;

a receiver that receives communication data obtained by the second vehicle and sent from the second vehicle, the communication data containing second position information as position information of the second vehicle;

an identification unit that performs identification on the second vehicle specified based on the relative position information and the second vehicle from which the communication data is sent, based on the first position information, the relative position information, and the second position information;

a position error calculator that calculates, for the second vehicle identified by the identification unit, a difference, as a position error, between a position of the second vehicle specified based on the relative position information and a position of the second vehicle specified based on the second position information; and

a position corrector that performs, based on the position error, a correction on the position of the second vehicle specified based on the second position information, on a condition that the second vehicle identified by the identification unit is no longer detected by the autonomous sensor.

2. The vehicle position detecting apparatus according to claim 1, wherein the position corrector

averages, on a time axis, the position error sequentially calculated for the second vehicle identified by the identification unit, and

performs the correction, based on the averaged position error.

3. The vehicle position detecting apparatus according to claim 1, wherein the position corrector adjusts the position error, based on one of an elapse of time from and a traveling distance of the second vehicle from a time point at which the second vehicle identified by the identification unit is no longer detected by the autonomous sensor.

4. The vehicle position detecting apparatus according to claim 2, wherein the position corrector adjusts the position error, based on one of an elapse of time from and a traveling distance of the second vehicle from a time point at which the second vehicle identified by the identification unit is no longer detected by the autonomous sensor.

5. The vehicle position detecting apparatus according to claim 1, further comprising a driving support controller that performs a driving support control on the first vehicle, based on the position of the second vehicle corrected by the position corrector.

6. The vehicle position detecting apparatus according to claim 2, further comprising a driving support controller that performs a driving support control on the first vehicle, based on the position of the second vehicle corrected by the position corrector.

7. The vehicle position detecting apparatus according to claim 3, further comprising a driving support controller that performs a driving support control on the first vehicle, based on the position of the second vehicle corrected by the position corrector.

8. The vehicle position detecting apparatus according to claim 4, further comprising a driving support controller that performs a driving support control on the first vehicle, based on the position of the second vehicle corrected by the position corrector.

9. The vehicle position detecting apparatus according to claim 5, wherein the driving support controller performs the driving support control that is based on any of control levels that are different depending on a traveling position of the second vehicle.

10. The vehicle position detecting apparatus according to claim 6, wherein the driving support controller performs the driving support control that is based on any of control levels that are different depending on a traveling position of the second vehicle.

11. The vehicle position detecting apparatus according to claim 7, wherein the driving support controller performs the driving support control that is based on any of control levels that are different depending on a traveling position of the second vehicle.

12. The vehicle position detecting apparatus according to claim 8, wherein the driving support controller performs the driving support control that is based on any of control levels that are different depending on a traveling position of the second vehicle.